Method for collision monitoring of a cable-guided load

Method according to any of the preceding claims, wherein the predicted braking trajectory (20) of the defined point is determined on the basis of a kinematic model of the work machine (10), in particular on the basis of a kinematic model of at least two movable components of the work machine (10).

Method according to any of the preceding claims, wherein the predicted braking trajectory (22) of the load is determined on the basis of a physical model, wherein the model in particular takes into account the behaviour of the cable during a movement of the work machine (10) and/or the weight of the load (18) and/or a geometry of the load (18) and/or a cable length and/or a wind speed.

Method according to any of the preceding claims, wherein at least one dimension of the load (18), preferably a height, a surface area and/or the volume of the load (18), is combined computationally with the determined predicted braking trajectory (22) of the load, in order to determine therefrom a predicted collision region (30, 32, 34) which the load (18) occupies when travelling through the braking trajectory (22).

Method according to the preceding claim, wherein the determined predicted collision region (30, 32, 34) is compared with environment data of the work machine (10), wherein the environment data relate to objects (40, 42) located in an environment of the work machine (10), wherein the comparison preferably includes a check of whether the determined predicted collision region (30, 32, 34) overlaps with an object (40, 42) in the environment, wherein in the case of a determined predicted collision a warning is output and/or there is automatic intervention in a control of the work machine (10).

Method according to any of the preceding claims, wherein the predicted braking trajectory (22) of the load (18) takes place assuming a reaction time between a stop signal and the introduction of braking of the work machine (10), wherein preferably at least two different predicted braking trajectories (22) of the load are determined based on different assumed reaction times, and wherein in particular a predicted collision region (30, 32, 34) is determined for each of the different predicted braking trajectories (22), and compared with environment data.

Method according to any of the preceding claims, wherein the calculation of the predicted braking trajectory (22) of the load (18) is carried out at regular intervals during the operation of the work machine (10).

Work machine (10), in particular crane, comprising a turntable (12) that is rotatable about a vertical axis of rotation, a jib (14) which is connected to the turntable (12) and over which a cable is guided, and a control unit which receives data relating to a current position and/or movement of a load (18) suspended on the cable, from at least one sensor of the work machine (10),

• characterised in that
• the control unit is configured to carry out the method according to any of the preceding claims.

Work machine (10) according to the preceding claim, comprising an input unit which is connected to the control unit and via which at least one dimension, in particular a volume, of the suspended load (18) and/or a load type can be input manually.